TY - JOUR
T1 - Localization of mobile laser scanner using classical mechanics
AU - Lehtola, V.V.
AU - Virtanen, Juho-Pekka
AU - Kukko, Antero
AU - Kaartinen, Harri
AU - Hyyppa, Hannu
PY - 2015/1
Y1 - 2015/1
N2 - We use a single 2D laser scanner to 3D scan indoor environments, without any inertial measurement units or reference coordinates. The localization is done directly from the point cloud in an intrinsic manner compared to other state-of-the-art mobile laser scanning methods where external inertial or odometry sensors are employed and synchronized with the laser scanner. Our approach is based on treating the scanner as a holonomic system. A novel type of scanner platform, called VILMA, is designed and built to demonstrate the functionality of the presented approach. Results from flat-floor and non-flat-floor environments are presented. They suggest that intrinsic localization may be generalized for broader use.
AB - We use a single 2D laser scanner to 3D scan indoor environments, without any inertial measurement units or reference coordinates. The localization is done directly from the point cloud in an intrinsic manner compared to other state-of-the-art mobile laser scanning methods where external inertial or odometry sensors are employed and synchronized with the laser scanner. Our approach is based on treating the scanner as a holonomic system. A novel type of scanner platform, called VILMA, is designed and built to demonstrate the functionality of the presented approach. Results from flat-floor and non-flat-floor environments are presented. They suggest that intrinsic localization may be generalized for broader use.
KW - Mobile
KW - Scanner
KW - Platforms
KW - Design
KW - LIDAR
KW - IMU
KW - Localization
KW - Trajectory
KW - ITC-ISI-JOURNAL-ARTICLE
UR - https://ezproxy2.utwente.nl/login?url=https://doi.org/10.1016/j.isprsjprs.2014.10.008
UR - https://ezproxy2.utwente.nl/login?url=https://library.itc.utwente.nl/login/2015/isi/lehtola_loc.pdf
U2 - 10.1016/j.isprsjprs.2014.10.008
DO - 10.1016/j.isprsjprs.2014.10.008
M3 - Article
SN - 0924-2716
VL - 99
SP - 25
EP - 29
JO - ISPRS journal of photogrammetry and remote sensing
JF - ISPRS journal of photogrammetry and remote sensing
ER -